// Copyright (c) 2014 Mohit Shridhar, David Lee

// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:

// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
# include <QObject>

# include <ros/ros.h>

# include <rviz/default_plugin/tools/pose_tool.h>
#endif

namespace rviz
{
	class Arrow;
	class DisplayContext;
	class StringProperty;

	class SecondaryMapCommPoseTool: public PoseTool
	{
		Q_OBJECT
		public:
		  SecondaryMapCommPoseTool();
		  virtual ~SecondaryMapCommPoseTool() {}
		  virtual void onInitialize();

		protected:
		  virtual void onPoseSet(double x, double y, double theta);

		private Q_SLOTS:
		  void updateTopic();

		private:
		  ros::NodeHandle nh_;
		  ros::Publisher pub_;

		  StringProperty* topic_property_;
	};

}